Control method and control device for robot

A control method to control a horizontal articulated robot that transports a workpiece between a plurality of stages, the robot comprising a base, a first arm rotatably connected to the base, a second arm rotatably connected to the first arm, a third arm rotatably connected to the second arm, and a hand rotatably connected the third arm and holding the workpiece, the control method comprising

• a driving step which comprising
• defining, as an origin, a position at which the first arm is connected to the base,
• defining, as a first joint point, a position at which the second arm is connected to the first arm, to define, as a second joint point, a position at which the third arm is connected to the second arm,
• defining, as a third joint point, a position at which the hand is connected to the third arm,
• setting the second joint point on a virtual travel axis passing through the origin in a horizontal plane when the robot is moved to the third joint point designated as a target position,
• defining, as a virtual travel axis angle, an angle formed by a reference direction passing through the origin and horizontally extending and the virtual travel axis,
• driving respective motors of axes by using the virtual travel axis angle and the target position, and to actually move the robot.